youbot::YouBotGripperBar Class Reference

One bar of the youBot gripper. More...

#include <YouBotGripperBar.hpp>

Public Member Functions
virtual void	getConfigurationParameter (MaxEncoderValue &parameter) const
virtual void	getConfigurationParameter (MaxTravelDistance &parameter) const
virtual void	getConfigurationParameter (BarSpacingOffset &parameter) const
virtual void	getConfigurationParameter (GripperBarName &parameter) const
virtual void	getConfigurationParameter (YouBotGripperParameter &parameter) const
virtual void	getConfigurationParameter (YouBotSlaveMailboxMsg &parameter) const
virtual void	getData (GripperSensedVelocity &barVelocity) const
virtual void	getData (GripperSensedBarPosition &barPosition) const
void	parseGripperErrorFlags (const unsigned int &errosFlags)
virtual void	setConfigurationParameter (const MaxEncoderValue &parameter)
virtual void	setConfigurationParameter (const MaxTravelDistance &parameter)
virtual void	setConfigurationParameter (const BarSpacingOffset &parameter)
virtual void	setConfigurationParameter (const GripperBarName &parameter)
virtual void	setConfigurationParameter (const YouBotGripperParameter &parameter)
virtual void	setData (const GripperBarEncoderSetpoint &encoderSetpoint)
virtual void	setData (GripperBarPositionSetPoint &barPosition)
	YouBotGripperBar (const unsigned int barNo, const unsigned int jointNo, const std::string &configFilePath="../config/")
virtual	~YouBotGripperBar ()

Private Member Functions
YouBotGripperBar &	operator= (const YouBotGripperBar &source)
void	parseMailboxStatusFlags (const YouBotSlaveMailboxMsg &mailboxMsg) const
bool	retrieveValueFromMotorContoller (YouBotSlaveMailboxMsg &message) const
bool	setValueToMotorContoller (const YouBotSlaveMailboxMsg &mailboxMsg) const
	YouBotGripperBar (const YouBotGripperBar &source)

Private Attributes
unsigned int	barNo
quantity< si::length >	barSpacingOffset
EthercatMasterInterface *	ethercatMaster
unsigned int	jointNumber
unsigned int	mailboxMsgRetries
unsigned int	maxEncoderValue
quantity< si::length >	maxTravelDistance
std::string	name
unsigned int	timeTillNextMailboxUpdate

Detailed Description

One bar of the youBot gripper.

Definition at line 76 of file YouBotGripperBar.hpp.

Constructor & Destructor Documentation

youbot::YouBotGripperBar::YouBotGripperBar	(	const unsigned int	barNo,
		const unsigned int	jointNo,
		const std::string &	configFilePath = "../config/"
	)

Definition at line 55 of file YouBotGripperBar.cpp.

youbot::YouBotGripperBar::~YouBotGripperBar ( )

virtual

Definition at line 69 of file YouBotGripperBar.cpp.

youbot::YouBotGripperBar::YouBotGripperBar ( const YouBotGripperBar &  source )

private

Member Function Documentation

void youbot::YouBotGripperBar::getConfigurationParameter ( MaxEncoderValue &  parameter ) const

virtual

Definition at line 80 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::getConfigurationParameter ( MaxTravelDistance &  parameter ) const

virtual

Definition at line 86 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::getConfigurationParameter ( BarSpacingOffset &  parameter ) const

virtual

Definition at line 104 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::getConfigurationParameter ( GripperBarName &  parameter ) const

virtual

Definition at line 116 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::getConfigurationParameter ( YouBotGripperParameter &  parameter ) const

virtual

Definition at line 122 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::getConfigurationParameter ( YouBotSlaveMailboxMsg &  parameter ) const

virtual

Definition at line 165 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::getData ( GripperSensedVelocity &  barVelocity ) const

virtual

Definition at line 188 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::getData ( GripperSensedBarPosition &  barPosition ) const

virtual

Definition at line 207 of file YouBotGripperBar.cpp.

YouBotGripperBar& youbot::YouBotGripperBar::operator= ( const YouBotGripperBar &  source )

private

void youbot::YouBotGripperBar::parseGripperErrorFlags

(

const unsigned int &

errosFlags

)

Definition at line 238 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::parseMailboxStatusFlags ( const YouBotSlaveMailboxMsg &  mailboxMsg ) const

private

Definition at line 270 of file YouBotGripperBar.cpp.

bool youbot::YouBotGripperBar::retrieveValueFromMotorContoller ( YouBotSlaveMailboxMsg &  message ) const

private

Definition at line 351 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::setConfigurationParameter ( const MaxEncoderValue &  parameter )

virtual

Definition at line 74 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::setConfigurationParameter ( const MaxTravelDistance &  parameter )

virtual

Definition at line 92 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::setConfigurationParameter ( const BarSpacingOffset &  parameter )

virtual

Definition at line 98 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::setConfigurationParameter ( const GripperBarName &  parameter )

virtual

Definition at line 110 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::setConfigurationParameter ( const YouBotGripperParameter &  parameter )

virtual

Definition at line 145 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::setData ( const GripperBarEncoderSetpoint &  encoderSetpoint )

virtual

Definition at line 174 of file YouBotGripperBar.cpp.

void youbot::YouBotGripperBar::setData ( GripperBarPositionSetPoint &  barPosition )

virtual

Definition at line 219 of file YouBotGripperBar.cpp.

bool youbot::YouBotGripperBar::setValueToMotorContoller ( const YouBotSlaveMailboxMsg &  mailboxMsg ) const

private

Definition at line 307 of file YouBotGripperBar.cpp.

Member Data Documentation

unsigned int youbot::YouBotGripperBar::barNo

private

Definition at line 140 of file YouBotGripperBar.hpp.

quantity<si::length> youbot::YouBotGripperBar::barSpacingOffset

private

Definition at line 130 of file YouBotGripperBar.hpp.

EthercatMasterInterface* youbot::YouBotGripperBar::ethercatMaster

private

Definition at line 132 of file YouBotGripperBar.hpp.

unsigned int youbot::YouBotGripperBar::jointNumber

private

Definition at line 138 of file YouBotGripperBar.hpp.

unsigned int youbot::YouBotGripperBar::mailboxMsgRetries

private

Definition at line 136 of file YouBotGripperBar.hpp.

unsigned int youbot::YouBotGripperBar::maxEncoderValue

private

Definition at line 128 of file YouBotGripperBar.hpp.

quantity<si::length> youbot::YouBotGripperBar::maxTravelDistance

private

Definition at line 126 of file YouBotGripperBar.hpp.

std::string youbot::YouBotGripperBar::name

private

Definition at line 142 of file YouBotGripperBar.hpp.

unsigned int youbot::YouBotGripperBar::timeTillNextMailboxUpdate

private

Definition at line 134 of file YouBotGripperBar.hpp.

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The documentation for this class was generated from the following files:

• YouBotGripperBar.hpp
• YouBotGripperBar.cpp